Keyframing specified object location at frame from csv data
Data to blender edits.


Get the scene object ob by name. Skip if not present in scene.
Add location keyframes at each frame  using

ob.keyframe_insert("location", frame)


Read the docs: 


Edited script.

import bpy
import csv

scene = bpy.context.scene    

csvfile = open('FilePath/Sphere_Anim.csv')
readcsv = csv.reader(csvfile, delimiter=',')

for i, row in enumerate(readcsv):
    if i == 0: 
        continue
    obname = row[0]
    # get the object
    ob = scene.objects.get(obname)
    if not ob:
        continue
    loc = [float(x) for x in row[1:4]]
    # set location
    ob.location = loc # local
    #ob.matrix_world.translation = loc # global
    frame = int(row[4])
    # insert all location keyframes  
    ob.keyframe_insert("location", frame=frame)


Related. 

Fast keyframe insertion